Technically you don't have to be in control of anything, not your thoughts OR your actions. To be in a lucid dream... you simply have to realize that you are in a dream.

Lots of people have lucid dreams where, for example, they cannot stop thinking about trying to have dream sex. Even though they have a set of lucid dream goals to accomplish, and they remind themselves of this, they inevitably end up thinking about and engaging in dream sex despite their best efforts not to.

And like you said, you were in a lucid dream, but couldn't even get out of your bed. That is certainly a case of not being in control of your actions (which were fairly simple) while you were lucid.